相关论文: Understanding Depth Map Progressively: Adaptive Di…

Current geometry-based monocular 3D object detection models can efficiently detect objects by leveraging perspective geometry, but their performance is limited due to the absence of accurate depth information. Though this issue can be…

Perspective projection has been extensively utilized in monocular 3D object detection methods. It introduces geometric priors from 2D bounding boxes and 3D object dimensions to reduce the uncertainty of depth estimation. However, due to…

Airborne light detection and ranging (LiDAR) plays an increasingly significant role in urban planning, topographic mapping, environmental monitoring, power line detection and other fields thanks to its capability to quickly acquire…

We present a simple but yet effective method for learning distinctive 3D local deep descriptors (DIPs) that can be used to register point clouds without requiring an initial alignment. Point cloud patches are extracted, canonicalised with…

Learning to reconstruct depths in a single image by watching unlabeled videos via deep convolutional network (DCN) is attracting significant attention in recent years. In this paper, we introduce a surface normal representation for…

Monocular depth estimation is vital for scene understanding and downstream tasks. We focus on the supervised setup, in which ground-truth depth is available only at training time. Based on knowledge about the high regularity of real 3D…

Vision-based depth estimation is a key feature in autonomous systems, which often relies on a single camera or several independent ones. In such a monocular setup, dense depth is obtained with either additional input from one or several…

Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major…

Object identification is one of the most fundamental and difficult issues in computer vision. It aims to discover object instances in real pictures from a huge number of established categories. In recent years, deep learning-based object…

Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…

Depth estimation and 3D object detection are critical for scene understanding but remain challenging to perform with a single image due to the loss of 3D information during image capture. Recent models using deep neural networks have…

In this paper, we propose a graph neural network to detect objects from a LiDAR point cloud. Towards this end, we encode the point cloud efficiently in a fixed radius near-neighbors graph. We design a graph neural network, named Point-GNN,…

Obstacle detection in railway environments is crucial for ensuring safety. However, very few studies address the problem using a complete, modular, and flexible system that can both detect objects in the scene and estimate their distance…

As an inherently ill-posed problem, depth estimation from single images is the most challenging part of monocular 3D object detection (M3OD). Many existing methods rely on preconceived assumptions to bridge the missing spatial information…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

Deep graph clustering, which aims to reveal the underlying graph structure and divide the nodes into different clusters without human annotations, is a fundamental yet challenging task. However, we observed that the existing methods suffer…

In this work, we demonstrate yet another approach to tackle the amodal segmentation problem. Specifically, we first introduce a new representation, namely a semantics-aware distance map (sem-dist map), to serve as our target for amodal…

We present a fine-tuning method to improve the appearance of 3D geometries reconstructed from single images. We leverage advances in monocular depth estimation to obtain disparity maps and present a novel approach to transforming 2D…

Obtaining accurate depth measurements out of a single image represents a fascinating solution to 3D sensing. CNNs led to considerable improvements in this field, and recent trends replaced the need for ground-truth labels with…